Prime Archives in Electronics最新文献

筛选

英文中文

Robust Dynamic Sliding Mode Control-based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs 基于鲁棒动态滑模控制的pid -超扭算法及二阶非线性系统扰动观测器:在无人机上的应用

Prime Archives in Electronics Pub Date : 2019-07-07 DOI: 10.3390/ELECTRONICS8070760

Le Nhu Ngoc Thanh Ha, S. Hong

{"title":"Robust Dynamic Sliding Mode Control-based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs","authors":"Le Nhu Ngoc Thanh Ha, S. Hong","doi":"10.3390/ELECTRONICS8070760","DOIUrl":"https://doi.org/10.3390/ELECTRONICS8070760","url":null,"abstract":"This paper introduces a robust dynamic sliding mode control algorithm using a nonlinear disturbance observer for system dynamics. The proposed method is applied to provide a rapid adaptation and strictly robust performance for the attitude and altitude control of unmanned aerial vehicles (UAVs). The procedure of the proposed method consists of two stages. First, a nonlinear disturbance observer is applied to estimate the exogenous perturbation. Second, a robust dynamic sliding mode controller integrated with the estimated values of disturbances is presented by a combination of a proportional–integral–derivative (PID) sliding surface and super twisting technique to compensate for the effect of these perturbations on the system. In addition, the stability of a control system is established by Lyapunov theory. A numerical simulation was performed and compared to recently alternative methods. An excellent tracking performance and superior stability of the attitude and altitude control of UAVs, exhibiting a fast response, good adaptation, and no chattering effect in the simulation results proved the robustness and effectiveness of the proposed method.","PeriodicalId":409250,"journal":{"name":"Prime Archives in Electronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130541200","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 22

Human Body Communication with Head-Mounted Wearable Devices 头戴式可穿戴设备的人体通信

Prime Archives in Electronics Pub Date : 1900-01-01 DOI: 10.37247/paelec.1.2021.8

D. Muramatsu, K. Sasaki

引用次数: 0